CN110422229B - Pressure feedback control method and controller for vehicle auxiliary steering - Google Patents
Pressure feedback control method and controller for vehicle auxiliary steering Download PDFInfo
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- CN110422229B CN110422229B CN201910740973.1A CN201910740973A CN110422229B CN 110422229 B CN110422229 B CN 110422229B CN 201910740973 A CN201910740973 A CN 201910740973A CN 110422229 B CN110422229 B CN 110422229B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/062—Details, component parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/30—Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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Abstract
The invention relates to the technical field of vehicle manufacturing, in particular to a pressure feedback control method and a controller for vehicle auxiliary steering, which comprises the following steps: monitoring the pressure value of an energy accumulator in real time in the process of carrying out pressure maintaining treatment on the energy accumulator by an auxiliary steering system of a target vehicle; if the monitored change value of the pressure value of the energy accumulator in a preset monitoring time period is larger than the safety difference value, acquiring a current adjustment value corresponding to the change value based on a preset rule; and adjusting the current value of a proportional reversing valve in the auxiliary steering system by using the current adjusting value so as to enable a steering oil cylinder connected with the proportional reversing valve to drive the target vehicle to steer at a constant speed. The invention can solve the technical problem that the vehicle is easy to suddenly and rapidly steer when the vehicle is assisted to steer by the auxiliary steering system.
Description
Technical Field
The application relates to the technical field of vehicle manufacturing, in particular to a pressure feedback control method and a pressure feedback control controller for vehicle auxiliary steering.
Background
In order to reduce the force of a driver operating a steering wheel when a vehicle is steered, some vehicles and automobile cranes are designed with an auxiliary steering system, and the auxiliary steering system generally assists the steering of the vehicle by charging and discharging pressure oil to and from an energy accumulator. However, in the process of auxiliary steering, if the pressure in the accumulator is lower than a certain value, the auxiliary steering system will automatically charge pressure oil into the accumulator, which will rapidly increase the pressure provided by the accumulator for auxiliary steering, resulting in sudden and rapid steering of the vehicle and causing the problem of vehicle drift.
Disclosure of Invention
The application aims to provide a pressure feedback control method and a pressure feedback control controller for vehicle auxiliary steering, so as to solve the technical problem that the vehicle is easy to suddenly and rapidly steer when the vehicle is subjected to auxiliary steering through an auxiliary steering system.
In order to achieve the purpose, the following technical scheme is adopted in the application:
one aspect of the present application provides a pressure feedback control method for vehicle assist steering, including:
monitoring the pressure value of an energy accumulator in real time in the process of carrying out pressure maintaining treatment on the energy accumulator by an auxiliary steering system of a target vehicle;
if the monitored change value of the pressure value of the energy accumulator in a preset monitoring time period is larger than the safety difference value, acquiring a current adjustment value corresponding to the change value based on a preset rule; and adjusting the current value of a proportional reversing valve in the auxiliary steering system by using the current adjusting value so as to enable a steering oil cylinder connected with the proportional reversing valve to drive the target vehicle to steer at a constant speed.
Preferably, the variation value includes: increasing the change value;
if the monitored change value of the pressure value of the energy accumulator in the preset monitoring time period is greater than the safety difference value, acquiring a current adjustment value corresponding to the change value based on a preset rule, wherein the current adjustment value comprises the following steps:
if the monitored increase change value of the pressure value of the energy accumulator in a preset monitoring time period is larger than a first safety difference value, acquiring a current adjustment value corresponding to the increase change value based on a preset rule;
correspondingly, the adjusting the current value of the proportional directional valve in the auxiliary steering system by applying the current adjusting value comprises the following steps:
and controlling the current value of a proportional reversing valve in the auxiliary steering system to be reduced to a corresponding safe current value, wherein the safe current value is the difference value between the current value of the proportional reversing valve and the current adjusting value.
Preferably, the variation value includes: a decreasing change value;
if the monitored change value of the pressure value of the energy accumulator in the preset monitoring time period is greater than the safety difference value, acquiring a current adjustment value corresponding to the change value based on a preset rule, wherein the current adjustment value comprises the following steps:
if the monitored descending change value of the pressure value of the energy accumulator in the preset monitoring time period is larger than the second safety difference value, acquiring a current adjustment value corresponding to the descending change value based on a preset rule;
correspondingly, the adjusting the current value of the proportional directional valve in the auxiliary steering system by applying the current adjusting value comprises the following steps:
and controlling the current value of a proportional reversing valve in the auxiliary steering system to rise to a corresponding safe current value, wherein the safe current value is the difference value between the current value of the proportional reversing valve and the current adjusting value.
Preferably, the monitoring the pressure value of the accumulator in real time includes:
and receiving the pressure value of the energy accumulator acquired by a pressure sensor in the auxiliary steering system in real time.
Preferably, before the monitoring the pressure value of the accumulator in real time, the method further comprises:
and if the pressure oil in the auxiliary steering system of the target vehicle is injected into the energy accumulator through the corresponding one-way valve through detection, judging that the auxiliary steering system of the current target vehicle is carrying out pressure maintaining treatment on the energy accumulator.
Preferably, the obtaining of the current adjustment value corresponding to the variation value based on the preset rule includes:
and acquiring a current safety value corresponding to the change value by applying a preset control comparison table, wherein the control comparison table is used for storing the corresponding relation between each change value and each current safety value.
Another aspect of the present application provides a pressure feedback controller for vehicle assist steering, comprising:
the pressure monitoring module is used for monitoring the pressure value of the energy accumulator in real time in the process of pressure maintaining treatment of the energy accumulator by the auxiliary steering system of the target vehicle;
the current adjustment value acquisition module is used for acquiring a current adjustment value corresponding to the change value based on a preset rule if the change value of the pressure value of the energy accumulator in a preset monitoring time period is monitored to be larger than a safety difference value;
and the constant speed control module is used for adjusting the current value of a proportional reversing valve in the auxiliary steering system by using the current adjusting value so as to enable a steering oil cylinder connected with the proportional reversing valve to drive the target vehicle to steer at a constant speed.
A third aspect of the present application provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the pressure feedback control method for vehicle assisted steering as described above when executing the program.
A fourth aspect of the present application provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the pressure feedback control method for vehicle-assisted steering described above.
A fifth aspect of the present application provides an assist steering system including: the system comprises an energy accumulator, a steering oil cylinder arranged on an axle of a target vehicle, a proportional directional valve connected with the steering oil cylinder, a pressure sensor connected with the energy accumulator, pressure oil, a one-way valve connected with the energy accumulator and a pressure feedback controller for assisting steering of the vehicle;
the pressure feedback controller is in communication connection with the pressure sensor and is connected with the proportional reversing valve;
the controller is also used for controlling the pressure oil to be injected into the energy accumulator through the one-way valve so as to perform pressure maintaining treatment on the energy accumulator.
The technical scheme provided by the application can achieve the following beneficial effects:
the pressure feedback control method and the controller for vehicle auxiliary steering can correspondingly reduce the input current of proportional reversing when the pressure of the oil source of the energy accumulator is increased, correspondingly increase the input current of the proportional reversing valve when the pressure of the oil source of the energy accumulator is decreased, ensure that the output flow of the proportional reversing valve is basically constant, enable the vehicle to steer at uniform speed and reduce the possibility of tail flicking during auxiliary steering.
Additional features of the present application and advantages thereof will be set forth in the description which follows, or may be learned by practice of the present application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the description of the embodiments will be briefly described below. It should be apparent that the drawings in the following description are embodiments of the present application and that other drawings may be derived from those drawings by a person of ordinary skill in the art without inventive step.
FIG. 1 is a schematic structural view of an auxiliary steering system;
FIG. 2 is a schematic flow chart of a pressure feedback control method for vehicle assisted steering in an embodiment of the present application;
fig. 3 is a schematic flowchart of step 201 and step 301 of the pressure feedback control method in the embodiment of the present application;
FIG. 4 is a flow chart illustrating step 202 and step 302 of the pressure feedback control method in an embodiment of the present application;
fig. 5 is a schematic structural diagram of a pressure feedback controller for vehicle auxiliary steering in the embodiment of the present application.
Reference numerals:
1-a one-way valve; 2-proportional reversing valve; 3-a pressure sensor; 4-an accumulator; 5-a steering oil cylinder; 6-vehicle axle.
Detailed Description
The technical solutions of the present application will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
As shown in fig. 1, the conventional auxiliary steering system includes a check valve 1, a proportional directional valve 2, a pressure sensor 3, an accumulator 4 and a steering cylinder 5, and the steering operation principle of the auxiliary steering system is as follows:
(1) when storing energyThe pressure oil of the device 4 is lower than the low pressure P2When the pressure reaches the high pressure P, the pressure sensor 3 sends a signal, the pressure oil P enters the energy accumulator 4 through the one-way valve 1, and when the pressure of the energy accumulator 4 reaches the high pressure P1At this time, the pressure sensor 3 sends a signal to stop the supply of the pressure oil P, and the check valve 1 maintains the pressure.
(2) The proportional electromagnet Ya1 or Yb1 on the proportional reversing valve 2 inputs current, the proportional valve reverses, and the pressure oil of the energy accumulator 4 passes through the proportional reversing valve 2 to perform the steering oil cylinder 5 to drive the auxiliary axle 6 to steer (Yan and Ybn both represent electromagnets in fig. 1).
(3) The speed at which the auxiliary axle 6 is steered depends on the flow rate through the proportional reversing valve 2, and the flow rate through the proportional reversing valve 2 depends on the input current value of the proportional electromagnet Ya1 or Yb1 on the proportional reversing valve 2 and the pressure oil of the accumulator 4.
The auxiliary steering causes drift: when the proportional electromagnet Ya1 or Yb1 on the proportional reversing valve 2 inputs a certain current value, the auxiliary axle 6 turns, the pressure oil in the accumulator 4 begins to reduce, and when the pressure oil in the accumulator 4 is lower than the low pressure P2When the pressure sensor 3 sends a signal, the pressure oil P enters the energy accumulator 4 through the one-way valve 1, the pressure oil in the energy accumulator 4 is rapidly increased, the pressure is increased, the flow passing through the proportional reversing valve 2 is also rapidly increased, the auxiliary steering speed is also suddenly increased, and the tail of the axle 6 is caused to slip.
Therefore, in view of the above-mentioned problems of the existing auxiliary steering systems, embodiments of the present application respectively provide a pressure feedback control method for vehicle auxiliary steering, a pressure feedback controller for vehicle auxiliary steering, an electronic device, and a corresponding computer-readable storage medium, by monitoring a pressure value of an accumulator 4 in real time during a pressure holding process of the auxiliary steering system of a target vehicle on the accumulator 4 therein; if the monitored change value of the pressure value of the energy accumulator 4 in the preset monitoring time period is larger than the safety difference value, acquiring a current adjustment value corresponding to the change value based on a preset rule; and adjusting the current value of a proportional reversing valve 2 in the auxiliary steering system by using the current adjusting value so as to enable a steering oil cylinder 5 connected with the proportional reversing valve 2 to drive a target vehicle to steer at a constant speed, so that the input current of proportional reversing can be correspondingly reduced when the pressure of an oil source of an energy accumulator 4 is increased, and when the pressure of the oil source of the energy accumulator 4 is reduced, the input current of the proportional reversing valve 2 is correspondingly increased to ensure that the output flow of the proportional reversing valve 2 is basically constant, so that the automobile is steered at a uniform speed, and the possibility of tail flick during auxiliary steering is reduced.
Based on the above, the present application provides a vehicle auxiliary steering system with pressure feedback control, which may specifically be based on fig. 1, adding a pressure feedback controller for vehicle auxiliary steering, where the pressure feedback controller is configured to execute the pressure feedback control process for vehicle auxiliary steering when it is detected that the auxiliary steering system of the target vehicle performs pressure maintaining processing on the energy accumulator 4 therein, so as to ensure that the output flow of the proportional directional valve 2 is substantially constant, so that the vehicle auxiliary steering is steered at uniform speed, and the tail flick phenomenon occurring during vehicle auxiliary steering is thoroughly eliminated.
Of course, in order to further improve the control integration degree and the intelligent degree of the pressure feedback control, the control instruction for performing the pressure maintaining process on the vehicle may also be sent by the pressure feedback controller, that is, the pressure feedback controller provided in this embodiment of the present application may implement the process of the pressure feedback control for the vehicle auxiliary steering, and may also implement the process of performing the pressure maintaining process on the energy accumulator 4 in the auxiliary steering system of the control target vehicle, which may be specifically selected according to the specific processing capability of the controller, and the present application does not limit this.
In addition, in order to further improve the intelligent degree of pressure feedback control or meet the experimental requirements on the pressure feedback control result, on the basis of the above contents, after the controller performs pressure feedback control on the pressure maintaining process of vehicle auxiliary steering, the control result can be uploaded to the server, so that the server displays the corresponding result in the client device authorized for communication, and thus, a technician can intuitively and quickly obtain the control result according to the display content in the client device.
It is understood that the client devices may include smart phones, tablet electronic devices, network set-top boxes, portable computers, desktop computers, Personal Digital Assistants (PDAs), in-vehicle devices, smart wearable devices, and the like. Wherein, intelligence wearing equipment can include intelligent glasses, intelligent wrist-watch, intelligent bracelet etc..
In practical applications, part of the pressure feedback control for vehicle assisted steering may be performed on the processor side as described above, or all operations may be performed on the server or client side. The selection may be made according to the processing capability of the server or the client side, the limitation of the user usage scenario, and the like. This is not a limitation of the present application. The client device may further include a processor if all operations are performed in the client device.
The client device may have a communication module (i.e., a communication unit), and may be communicatively connected to a remote server to implement data transmission with the server. The server may include a server on the task scheduling center side, and in other implementation scenarios, the server may also include a server on an intermediate platform, for example, a server on a third-party server platform that is communicatively linked to the task scheduling center server. The server may include a single computer device, or may include a server cluster formed by a plurality of servers, or a server structure of a distributed apparatus.
The server and the client device may communicate using any suitable network protocol, including network protocols not yet developed at the filing date of this application. The network protocol may include, for example, a TCP/IP protocol, a UDP/IP protocol, an HTTP protocol, an HTTPS protocol, or the like. Of course, the network Protocol may also include, for example, an RPC Protocol (Remote Procedure Call Protocol), a REST Protocol (Representational State Transfer Protocol), and the like used above the above Protocol.
In one or more embodiments of the present application, the process of the auxiliary steering system of the target vehicle performing pressure maintaining processing on the accumulator 4 may specifically be:
(1) the pressure of the oil source of the accumulator 4 is detected in real time by the pressure sensor 3.
(2) When the pressure of the accumulator 4 is lower than the low pressure P2When the pressure reaches the high pressure P, the pressure oil P enters the energy accumulator 4 through the one-way valve 1 after receiving the signal sent by the pressure sensor 3, and when the pressure of the energy accumulator 4 reaches the high pressure P1At this time, the pressure sensor 3 sends a signal to stop the supply of the pressure oil P, and the check valve 1 maintains the pressure.
In one or more embodiments of the present application, the preset monitoring period is a time domain value preset according to an application situation, and a change in the pressure value cannot be distinguished at one time point because at least two time points separated by the preset monitoring period are required to be distinguished, and in order to more reliably know whether the current pressure value changes, the present application preferably distinguishes a plurality of time points within the preset monitoring period.
For example, the preset monitoring period is preset to be 3ms, and the pressure values of the accumulator 4 at 4 time points every 1ms within 3ms are respectively: p01, P02, P03 and P04, and the four values are in an increasing trend through numerical comparison, so that the controller can know the increase change value PU of the pressure value of the accumulator 4 in a preset monitoring period, which is P04-P01.
It can be seen that, in one or more embodiments of the present application, the change value is a change difference value of the pressure value of the accumulator 4 in the preset monitoring period, which may be an increasing change value PU as in the foregoing example, or a decreasing change value PD, that is, in the foregoing example, if P01 to P04 gradually increase, the current change value is determined to be an increasing change value; if P01-P04 are gradually decreased, the current change value is determined to be a decreasing change value.
In one or more embodiments of the present application, the safety difference is a safety difference preset according to an application situation, and the safety difference specifically includes a first safety difference for determining an increase variation value and a second safety difference for determining a decrease variation value; for example, if the first safety difference is 60V, the increase variation value PU is P04-P01 is 71V, and 71>60, it is determined that the variation value of the increase variation value in the preset monitoring period is larger than the first safety difference, and it is necessary to perform a drop adjustment of the current value of the proportional switching valve 2.
In one or more embodiments of the present application, the current adjustment value is preset according to a preset rule, and specifically, a preset control comparison table may be used to obtain a current safety value corresponding to the change value, where the control comparison table is used to store a corresponding relationship between each change value and each current safety value.
See table 1 for an example of a growth control:
TABLE 1
As can be seen from table 1 above, if the currently measured growth variation PU is 34V, the current modulation value corresponding to the growth variation PU may be determined to be 15A according to table 1, and then the current value of the proportional directional valve 2 in the auxiliary steering system is controlled to decrease by 15A, if the current value of the proportional directional valve 2 is 50A and the current value of the proportional directional valve 2 decreases by 15A, the current value of the proportional directional valve 2 decreases to the corresponding safe current value, which is 35A, that is, in one or more embodiments of the present application, the safe current value is the difference between the current value of the proportional directional valve 2 and the current adjustment value.
In order to correspondingly reduce the input current of the proportional reversing valve 2 when the pressure of the oil source of the accumulator 4 is increased and correspondingly increase the input current of the proportional reversing valve 2 when the pressure of the oil source of the accumulator 4 is decreased, the application provides an embodiment of a pressure feedback control method for vehicle auxiliary steering, the execution subject of which can be the aforementioned controller, and referring to fig. 2, the pressure feedback control method for vehicle auxiliary steering specifically comprises the following contents:
step 100: during the pressure maintaining process of the auxiliary steering system of the target vehicle on the energy accumulator 4, the pressure value of the energy accumulator 4 is monitored in real time.
Step 200: if the monitored change value of the pressure value of the energy accumulator 4 in the preset monitoring time period is larger than the safety difference value, acquiring a current adjustment value corresponding to the change value based on a preset rule.
Step 300: and adjusting the current value of a proportional directional valve 2 in the auxiliary steering system by using the current adjusting value so as to enable a steering oil cylinder 5 connected with the proportional directional valve 2 to drive a target vehicle to steer at a constant speed.
In order to further improve the reliability of the control process of reducing the proportional commutated input current, in one embodiment of the pressure feedback control method of the present application, the change value is an increase change value; referring to fig. 3, the step 200 specifically includes the following steps:
step 201: if the increase change value of the pressure value of the energy accumulator 4 in a preset monitoring time period is monitored to be larger than the first safety difference value, acquiring a current adjustment value corresponding to the increase change value based on a preset rule;
correspondingly, the step 300 specifically includes the following steps:
step 301: and controlling the current value of the proportional reversing valve 2 in the auxiliary steering system to be reduced to a corresponding safe current value, wherein the safe current value is the difference value between the current value of the proportional reversing valve 2 and the current adjusting value.
In order to further improve the reliability of the control process of increasing the proportional commutated input current, in one embodiment of the pressure feedback control method of the present application, the change value is a decreasing change value; referring to fig. 4, the step 200 specifically includes the following steps:
step 202: if the monitored descending change value of the pressure value of the energy accumulator 4 in a preset monitoring time period is larger than the second safety difference value, acquiring a current adjustment value corresponding to the descending change value based on a preset rule;
correspondingly, the step 300 specifically includes the following steps:
step 302: and controlling the current value of the proportional reversing valve 2 in the auxiliary steering system to rise to a corresponding safe current value, wherein the safe current value is the difference value between the current value of the proportional reversing valve 2 and the current adjusting value.
In order to further reduce the addition of new equipment on the basis of reducing the possibility of the tail-flick phenomenon occurring during the auxiliary steering, so as to reduce the control cost, in an embodiment of the pressure feedback control method of the present application, the existing pressure sensor 3 in the auxiliary steering system may be directly applied to implement pressure monitoring, and correspondingly, the step 100 specifically includes the following steps:
step 101: and receiving the pressure value of the energy accumulator 4 acquired by the pressure sensor 3 in the auxiliary steering system in real time.
In order to further ensure that the controller can accurately know that the pressure maintaining process for the accumulator 4 is currently performed and then accurately trigger the pressure feedback control process on the basis of reducing the possibility of the tail flick phenomenon occurring during the auxiliary steering, in an embodiment of the pressure feedback control method according to the present application, the following is further specifically included before the step 100:
step 001: and if the pressure oil in the auxiliary steering system of the target vehicle is injected into the energy accumulator 4 through the corresponding one-way valve 1 through detection, judging that the pressure maintaining treatment is carried out on the energy accumulator 4 by the current auxiliary steering system of the target vehicle.
In order to further improve the efficiency of adjusting the current value of the proportional directional valve 2, in an embodiment of the pressure feedback control method of the present application, the following is further specifically included before the step 001:
step 002: and acquiring a current safety value corresponding to the change value by applying a preset control comparison table, wherein the control comparison table is used for storing the corresponding relation between each change value and each current safety value.
In order to further explain the scheme, the application also provides a specific application example of applying the pressure feedback control method for vehicle auxiliary steering to the vehicle auxiliary steering process, which specifically comprises the following steps:
the application example mainly realizes that when the automobile assists in steering and participates in work, the pressure of a power oil source is detected through the pressure sensor 3, the detected pressure is fed back to the input current on the controlled proportional reversing valve 2 in real time, when the pressure of the oil source of the energy accumulator 4 is increased, the input current of the proportional reversing valve 2 is correspondingly reduced, when the pressure of the oil source of the energy accumulator 4 is reduced, the input current of the proportional reversing valve 2 is correspondingly increased, the output flow of the proportional reversing valve 2 is ensured to be basically constant, the automobile assists in steering and turns at the same speed, and the tail flicking phenomenon is thoroughly eliminated when the automobile assists in steering.
(1) The pressure of the oil source of the energy accumulator 4 is detected in real time through the pressure sensor 3.
(2) When the pressure of the accumulator 4 is lower than the low pressure P2When the pressure reaches the high pressure P, the pressure sensor 3 sends a signal, the pressure oil P enters the energy accumulator 4 through the one-way valve 1, and when the pressure of the energy accumulator 4 reaches the high pressure P1At this time, the pressure sensor 3 sends a signal to stop the supply of the pressure oil P, and the check valve 1 maintains the pressure.
(3) The proportional electromagnet Ya1 or Yb1 on the proportional reversing valve 2 inputs current, the proportional valve reverses, and the pressure oil of the energy accumulator 4 passes through the proportional valve to perform the steering oil cylinder 5 to drive the auxiliary axle 6 to steer.
(4) The pressure of an oil source of the energy accumulator 4 is detected in real time through the pressure sensor 3, the detected pressure is fed back to the input current on the controlled proportional reversing valve 2 in real time, when the pressure of the oil source of the energy accumulator 4 is increased, the input current of proportional reversing is correspondingly reduced, when the pressure of the oil source of the energy accumulator 4 is reduced, the input current of the proportional reversing valve 2 is correspondingly increased, the output flow of the proportional reversing valve 2 is ensured to be basically constant and not influenced by the pressure change of the energy accumulator 4, and the tail flick phenomenon during auxiliary turning of the automobile is thoroughly eradicated.
From the above description, in the present application example, the check valve 1 is used for pressure maintaining, the pressure sensor 3 detects the pressure of the oil source of the energy accumulator 4 in real time, the energy accumulator 4 provides the power oil source, the proportional directional valve 2 is used for controlling the steering and speed of the steering cylinder, the pressure sensor 3 detects the pressure of the oil source of the energy accumulator 4 in real time and controls the input current value of the proportional directional valve 2 in a feedback manner, so as to ensure that the output flow of the proportional directional valve 2 is not affected by the pressure change of the energy accumulator 4, so that the input current of the proportional directional valve 2 is correspondingly reduced when the pressure of the oil source of the energy accumulator 4 is increased, when the pressure of the oil source of the energy accumulator 4 is reduced, the input current of the proportional directional valve 2 is correspondingly increased, the output flow of the proportional directional valve 2 is ensured to be basically constant, the vehicle is steered at the uniform speed, and the possibility of the tail flicking phenomenon during the auxiliary steering is reduced.
From the aspect of software, in order to correspondingly decrease the input current of the proportional reversing valve 2 when the pressure of the oil source of the accumulator 4 increases and correspondingly increase the input current of the proportional reversing valve 2 when the pressure of the oil source of the accumulator 4 decreases, the present application further provides an embodiment of a pressure feedback controller for vehicle auxiliary steering, which is used for implementing all or part of the pressure feedback control method for vehicle auxiliary steering, and the pressure feedback controller for vehicle auxiliary steering specifically includes the following contents, referring to fig. 5:
and the pressure monitoring module 10 is used for monitoring the pressure value of the energy accumulator 4 in real time in the process of pressure maintaining treatment of the energy accumulator 4 by the auxiliary steering system of the target vehicle.
And a current adjustment value obtaining module 20, configured to obtain a current adjustment value corresponding to the change value based on a preset rule if it is monitored that the change value of the pressure value of the energy accumulator 4 in a preset monitoring time period is greater than a safety difference value.
And the constant speed control module 30 is used for adjusting the current value of the proportional directional valve 2 in the auxiliary steering system by using the current adjustment value so as to enable the steering oil cylinder 5 connected with the proportional directional valve 2 to drive the target vehicle to steer at a constant speed.
The embodiment of the pressure feedback controller for vehicle auxiliary steering provided in the embodiment of the present application may be specifically used to execute the processing procedure of the embodiment of the pressure feedback control method for vehicle auxiliary steering in the above embodiment, and the function of the processing procedure is not repeated herein, and reference may be made to the detailed description of the embodiment of the pressure feedback control method for vehicle auxiliary steering.
From the above description, it can be known that the pressure feedback controller for vehicle auxiliary steering according to the embodiments of the present application can correspondingly reduce the input current of proportional reversing when the pressure of the oil source of the accumulator 4 is increased, and correspondingly increase the input current of the proportional reversing valve 2 when the pressure of the oil source of the accumulator 4 is decreased, so as to ensure that the output flow of the proportional reversing valve 2 is substantially constant, so that the vehicle auxiliary steering is steered at a uniform speed, and the possibility of the tail flick phenomenon occurring during the auxiliary steering is reduced.
In order to reduce the proportional reversing input current when the pressure of the oil source of the accumulator 4 is increased and to increase the input current of the proportional reversing valve 2 when the pressure of the oil source of the accumulator 4 is decreased, the present application provides an embodiment of an electronic device for controlling the pressure feedback of the vehicle auxiliary steering, which includes the following components:
a processor (processor), a memory (memory), a communication Interface (Communications Interface), and a bus; the processor, the memory and the communication interface complete mutual communication through the bus; the communication interface is used for realizing information transmission among related equipment such as a pressure feedback controller used for vehicle auxiliary steering, the pressure sensor 3, a user terminal and the like; the electronic device may be a desktop computer, a tablet computer, a mobile terminal, and the like, but the embodiment is not limited thereto. In this embodiment, the electronic device may be implemented with reference to the embodiment of the pressure feedback control method for vehicle assisted steering and the embodiment of the pressure feedback controller for vehicle assisted steering in the embodiments, and the contents thereof are incorporated herein, and repeated descriptions thereof are omitted.
The electronic equipment of the embodiment of the application can comprise a central processing unit and a memory; the memory is coupled to the central processor.
In one embodiment, the pressure feedback control function for vehicle assisted steering may be integrated into the central processor. Wherein the central processor may be configured to control:
step 100: during the pressure maintaining process of the auxiliary steering system of the target vehicle on the energy accumulator 4, the pressure value of the energy accumulator 4 is monitored in real time.
Step 200: if the monitored change value of the pressure value of the energy accumulator 4 in the preset monitoring time period is larger than the safety difference value, acquiring a current adjustment value corresponding to the change value based on a preset rule.
Step 300: and adjusting the current value of a proportional directional valve 2 in the auxiliary steering system by using the current adjusting value so as to enable a steering oil cylinder 5 connected with the proportional directional valve 2 to drive a target vehicle to steer at a constant speed.
From the above description, it can be known that the electronic device provided in the embodiment of the present application can correspondingly reduce the input current of the proportional reversing when the pressure of the oil source of the energy accumulator 4 is increased, and correspondingly increase the input current of the proportional reversing valve 2 when the pressure of the oil source of the energy accumulator 4 is decreased, so as to ensure that the output flow of the proportional reversing valve 2 is substantially constant, so that the vehicle is steered at the uniform speed in the auxiliary steering, and the possibility of the tail flick phenomenon occurring in the auxiliary steering is reduced.
In another embodiment, the pressure feedback controller for vehicle-assisted steering may be configured separately from the central processor, for example, the pressure feedback controller for vehicle-assisted steering may be configured as a chip connected to the central processor, and the transaction risk monitoring function is realized by the control of the central processor.
The electronic device may further include: communication module, input unit, audio processor, display, power.
A central processing unit, also sometimes referred to as a controller or operational control, may include a microprocessor or other processor device and/or logic device that receives input and controls the operation of various components of the electronic device.
The memory may be, for example, one or more of a buffer, a flash memory, a hard drive, a removable media, a volatile memory, a non-volatile memory, or other suitable device. The information relating to the failure may be stored, and a program for executing the information may be stored. And the central processing unit may execute the program stored in the memory to realize information storage or processing, or the like.
The input unit provides input to the central processing unit. The input unit is, for example, a key or a touch input device. The power supply is used to provide power to the electronic device. The display is used for displaying display objects such as images and characters. The display may be, for example, an LCD display, but is not limited thereto.
The memory may be a solid state memory, such as Read Only Memory (ROM), Random Access Memory (RAM), a SIM card, or the like. There may also be a memory that holds information even when power is off, can be selectively erased, and is provided with more data, an example of which is sometimes called an EPROM or the like. The memory may also be some other type of device. The memory includes a buffer memory (sometimes referred to as a buffer). The memory may include an application/function storage section for storing an application program and a function program or a flow for executing an operation of the electronic device by the central processor.
Embodiments of the present application also provide a computer-readable storage medium capable of implementing all steps in the pressure feedback control method for vehicle-assisted steering of which the execution subject is a processor, a server, or a client in the above embodiments, the computer-readable storage medium having stored thereon a computer program that, when executed by a processor, implements all steps of the pressure feedback control method for vehicle-assisted steering in the above embodiments, for example, the processor implements the following steps when executing the computer program:
step 100: during the pressure maintaining process of the auxiliary steering system of the target vehicle on the energy accumulator 4, the pressure value of the energy accumulator 4 is monitored in real time.
Step 200: if the monitored change value of the pressure value of the energy accumulator 4 in the preset monitoring time period is larger than the safety difference value, acquiring a current adjustment value corresponding to the change value based on a preset rule.
Step 300: and adjusting the current value of a proportional directional valve 2 in the auxiliary steering system by using the current adjusting value so as to enable a steering oil cylinder 5 connected with the proportional directional valve 2 to drive a target vehicle to steer at a constant speed.
From the above description, it can be seen that the computer-readable storage medium provided in the embodiments of the present application can correspondingly decrease the input current of the proportional directional valve 2 when the pressure of the oil source of the accumulator 4 increases, and correspondingly increase the input current of the proportional directional valve 2 when the pressure of the oil source of the accumulator 4 decreases, so as to ensure that the output flow of the proportional directional valve 2 is substantially constant, so that the vehicle can steer at an equal speed in the auxiliary steering, and the possibility of the tail flick phenomenon during the auxiliary steering is reduced.
In order to reduce the input current of the proportional reversing valve 2 when the pressure of the oil source of the accumulator 4 is increased and to increase the input current of the proportional reversing valve 2 when the pressure of the oil source of the accumulator 4 is decreased, the application provides an embodiment of an auxiliary steering system, which specifically comprises the following contents:
an accumulator 4 shown in fig. 1, a steering cylinder 5 provided on an axle 6 of a subject vehicle, a proportional directional control valve 2 connected to the steering cylinder, a pressure sensor 3 connected to the accumulator 4, pressure oil, a check valve 1 connected to the accumulator 4, and the aforementioned pressure feedback controller for vehicle-assisted steering, which is not shown in fig. 1; the pressure feedback controller is in communication connection with the pressure sensor 3 and is connected with the proportional directional valve 2; wherein, the controller is also used for controlling the pressure oil to be injected into the energy accumulator 4 through the one-way valve 1 so as to perform pressure maintaining treatment on the energy accumulator 4.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (9)
1. A pressure feedback control method for vehicle assisted steering, the method comprising: monitoring the pressure value of an energy accumulator in real time in the process of carrying out pressure maintaining treatment on the energy accumulator by an auxiliary steering system of a target vehicle; characterized in that the method further comprises:
if the monitored change value of the pressure value of the energy accumulator in a preset monitoring time period is larger than the safety difference value, acquiring a current adjustment value corresponding to the change value based on a preset rule; adjusting the current value of a proportional reversing valve in the auxiliary steering system by using the current adjusting value so as to enable a steering oil cylinder connected with the proportional reversing valve to drive a target vehicle to steer at a constant speed;
wherein the variation value comprises: increasing the change value;
if the monitored change value of the pressure value of the energy accumulator in the preset monitoring time period is greater than the safety difference value, acquiring a current adjustment value corresponding to the change value based on a preset rule, wherein the current adjustment value comprises the following steps:
if the monitored increase change value of the pressure value of the energy accumulator in a preset monitoring time period is larger than a first safety difference value, acquiring a current adjustment value corresponding to the increase change value based on a preset rule;
correspondingly, the adjusting the current value of the proportional directional valve in the auxiliary steering system by applying the current adjusting value comprises the following steps:
and controlling the current value of a proportional reversing valve in the auxiliary steering system to be reduced to a corresponding safe current value, wherein the safe current value is the difference value between the current value of the proportional reversing valve and the current adjusting value.
2. The pressure feedback control method according to claim 1, wherein the change value includes: a decreasing change value;
if the monitored change value of the pressure value of the energy accumulator in the preset monitoring time period is greater than the safety difference value, acquiring a current adjustment value corresponding to the change value based on a preset rule, wherein the current adjustment value comprises the following steps:
if the monitored descending change value of the pressure value of the energy accumulator in the preset monitoring time period is larger than the second safety difference value, acquiring a current adjustment value corresponding to the descending change value based on a preset rule;
correspondingly, the adjusting the current value of the proportional directional valve in the auxiliary steering system by applying the current adjusting value comprises the following steps:
and controlling the current value of a proportional reversing valve in the auxiliary steering system to rise to a corresponding safe current value, wherein the safe current value is the difference value between the current value of the proportional reversing valve and the current adjusting value.
3. The pressure feedback control method of claim 1, wherein said monitoring the pressure value of the accumulator in real time comprises:
and receiving the pressure value of the energy accumulator acquired by a pressure sensor in the auxiliary steering system in real time.
4. The pressure feedback control method of claim 1, further comprising, prior to said monitoring the pressure value of the accumulator in real time:
and if the pressure oil in the auxiliary steering system of the target vehicle is injected into the energy accumulator through the corresponding one-way valve through detection, judging that the auxiliary steering system of the current target vehicle is carrying out pressure maintaining treatment on the energy accumulator.
5. The pressure feedback control method according to claim 1, wherein the obtaining of the current adjustment value corresponding to the variation value based on a preset rule includes:
and acquiring a current safety value corresponding to the change value by applying a preset control comparison table, wherein the control comparison table is used for storing the corresponding relation between each change value and each current safety value.
6. A pressure feedback controller for vehicle assisted steering, the pressure feedback controller comprising: the pressure monitoring module is used for monitoring the pressure value of the energy accumulator in real time in the process of pressure maintaining treatment of the energy accumulator by the auxiliary steering system of the target vehicle; characterized in that, the pressure feedback controller further comprises:
the current adjustment value acquisition module is used for acquiring a current adjustment value corresponding to the change value based on a preset rule if the change value of the pressure value of the energy accumulator in a preset monitoring time period is monitored to be larger than a safety difference value;
the constant speed control module is used for adjusting the current value of a proportional reversing valve in the auxiliary steering system by using the current adjusting value so as to enable a steering oil cylinder connected with the proportional reversing valve to drive a target vehicle to steer at a constant speed;
the variation values include: increasing the change value;
if the monitored change value of the pressure value of the energy accumulator in the preset monitoring time period is greater than the safety difference value, acquiring a current adjustment value corresponding to the change value based on a preset rule, wherein the current adjustment value comprises the following steps:
if the monitored increase change value of the pressure value of the energy accumulator in a preset monitoring time period is larger than a first safety difference value, acquiring a current adjustment value corresponding to the increase change value based on a preset rule;
correspondingly, the adjusting the current value of the proportional directional valve in the auxiliary steering system by applying the current adjusting value comprises the following steps:
and controlling the current value of a proportional reversing valve in the auxiliary steering system to be reduced to a corresponding safe current value, wherein the safe current value is the difference value between the current value of the proportional reversing valve and the current adjusting value.
7. Electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the pressure feedback control method for vehicle assisted steering according to any of claims 1 to 5 are implemented by the processor when executing the program.
8. Computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the pressure feedback control method for vehicle-assisted steering according to any one of claims 1 to 5.
9. An auxiliary steering system, the system comprising: the system comprises an energy accumulator, a steering oil cylinder arranged on an axle of a target vehicle, a proportional directional valve connected with the steering oil cylinder, a pressure sensor connected with the energy accumulator, pressure oil and a one-way valve connected with the energy accumulator; characterized in that the system further comprises: a pressure feedback controller for vehicle assisted steering as claimed in claim 6;
the pressure feedback controller is in communication connection with the pressure sensor and is connected with the proportional reversing valve;
the controller is also used for controlling the pressure oil to be injected into the energy accumulator through the one-way valve so as to perform pressure maintaining treatment on the energy accumulator.
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